Target detection device for detecting low-level targets and target detection method thereof

Abstract

The invention relates to an object mark detection device for detecting low-level object marks and an object mark detection method thereof. An object detection device mounted on a vehicle to generate information related to an object includes: an object detection unit (26: S110 to S170) for detecting the above object based on the position and speed of a reflection point detected by the radar sensor; The value calculation part (26: S240) obtains the depth judgment value of the object detected by the above-mentioned object detection part; the crossing judgment part (26: S250) judges whether the above-mentioned vehicle can cross the object mark; the attention information setting Part (26: S310), when it is judged that it is impossible to cross over, set the attention information indicating that it is an object mark that needs attention; the tracking part (26: S150) executes the tracking process, and in the tracking process, the latest object Take the object of this period as the object of the current period, and use the object detected last time as the object of the previous period to judge whether there is a connection relationship between the object of the current period and the object of the previous period, and store the information related to the object of the previous period Handed over to the above-mentioned current cycle object object judged as having a connection relationship with the previous cycle object object; the transfer judgment value calculation part (26: S260, S290), according to each object object, obtains the value indicating that it has passed the last judgment of the above-mentioned passing judgment part. It is the transition judgment value of the size of the judging object quantity measured after it cannot be crossed; In a case where the transition determination value calculated by the transition determination value calculation unit exceeds a preset transition threshold value, the setting of the attention information is canceled.

Description

technical field [0001] The present invention relates to a technique for recognizing objects existing around a vehicle. Background technique [0002] Conventionally, an on-vehicle radar device has been used that detects information (distance to object, relative speed, direction, etc.) related to an object that reflects radar waves by transmitting and receiving radar waves. For example, in the vehicle-mounted radar device disclosed in Japanese Patent Application Laid-Open No. 2011-17634, the object distance is estimated from the power distribution (generated pattern of null points) of the received power of objects continuously detected in a plurality of measurement cycles. the height of the road surface. [0003] In addition, the occurrence pattern of empty spots is generally such that the lower the height from the road surface, the wider the interval between empty spots. In the case of metal road surface objects (hereinafter referred to as low-level object marks) buried in t...

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Problems solved by technology

Also, railings are detected even from a relatively long distance, but metal plates cannot be detected unless they are close to a certain extent

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